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<div class="title">se3quat.h</div>  </div>
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<a href="se3quat_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 H. Strasdat</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_SE3QUAT_H_</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_SE3QUAT_H_</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="se3__ops_8h.html">se3_ops.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Core&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Geometry&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keyword">using namespace </span><a class="code" href="namespace_eigen.html">Eigen</a>;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a3bc8a4fbac86f158d548be81af2f929b">   38</a></span>&#160;  <span class="keyword">typedef</span> Matrix&lt;double, 6, 1&gt; <a class="code" href="namespaceg2o.html#a3bc8a4fbac86f158d548be81af2f929b">Vector6d</a>;</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a4740ec41130f2ecc628c81f71261c8de">   39</a></span>&#160;  <span class="keyword">typedef</span> Matrix&lt;double, 7, 1&gt; <a class="code" href="namespaceg2o.html#a4740ec41130f2ecc628c81f71261c8de">Vector7d</a>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html">   41</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a> {</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a5bcd64993957b1a87a113d9a282d4fcb">   43</a></span>&#160;      <a class="code" href="classg2o_1_1_s_e3_quat.html#a5bcd64993957b1a87a113d9a282d4fcb">EIGEN_MAKE_ALIGNED_OPERATOR_NEW</a>;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a420255bcfca499dc2669b27fd373f665">   48</a></span>&#160;      Quaterniond <a class="code" href="classg2o_1_1_s_e3_quat.html#a420255bcfca499dc2669b27fd373f665">_r</a>;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a7f0078e2750e8f821926f2d51202a809">   49</a></span>&#160;      Vector3d <a class="code" href="classg2o_1_1_s_e3_quat.html#a7f0078e2750e8f821926f2d51202a809">_t</a>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a685de01e417e01f84d5b8389e5f5f333">   53</a></span>&#160;      <a class="code" href="classg2o_1_1_s_e3_quat.html#a685de01e417e01f84d5b8389e5f5f333">SE3Quat</a>(){</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        _r.setIdentity();</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        _t.setZero();</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      }</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#abb3e9184aa02bf6ced3f6d4cd0825f33">   58</a></span>&#160;      <a class="code" href="classg2o_1_1_s_e3_quat.html#abb3e9184aa02bf6ced3f6d4cd0825f33">SE3Quat</a>(<span class="keyword">const</span> Matrix3d&amp; R, <span class="keyword">const</span> Vector3d&amp; t):_r(Quaterniond(R)),_t(t){ </div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        normalizeRotation();</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      }</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#ab22b3fde9b7e0a833b74b3453041c040">   62</a></span>&#160;      <a class="code" href="classg2o_1_1_s_e3_quat.html#ab22b3fde9b7e0a833b74b3453041c040">SE3Quat</a>(<span class="keyword">const</span> Quaterniond&amp; q, <span class="keyword">const</span> Vector3d&amp; t):_r(q),_t(t){</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        normalizeRotation();</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      }</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Derived&gt;</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#ada36ff00a7a238cef3fe958ff9f7f9cd">   70</a></span>&#160;        <span class="keyword">explicit</span> <a class="code" href="classg2o_1_1_s_e3_quat.html#ada36ff00a7a238cef3fe958ff9f7f9cd">SE3Quat</a>(<span class="keyword">const</span> MatrixBase&lt;Derived&gt;&amp; v)</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          assert((v.size() == 6 || v.size() == 7) &amp;&amp; <span class="stringliteral">&quot;Vector dimension does not match&quot;</span>);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          <span class="keywordflow">if</span> (v.size() == 6) {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;3; i++){</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;              _t[i]=v[i];</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;              _r.coeffs()(i)=v[i+3];</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;            }</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;            _r.w() = 0.; <span class="comment">// recover the positive w</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            <span class="keywordflow">if</span> (_r.norm()&gt;1.){</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;              _r.normalize();</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;            } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;              <span class="keywordtype">double</span> w2=1.-_r.squaredNorm();</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;              _r.w()= (w2&lt;0.) ? 0. : sqrt(w2);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;            }</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          }</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (v.size() == 7) {</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;            <span class="keywordtype">int</span> idx = 0;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;3; ++i, ++idx)</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;              _t(i) = v(idx);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;4; ++i, ++idx)</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;              _r.coeffs()(i) = v(idx);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            normalizeRotation();</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          }</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        }</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a3f36961ad875394c3d305883bebb26bc">   96</a></span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> Vector3d&amp; <a class="code" href="classg2o_1_1_s_e3_quat.html#a3f36961ad875394c3d305883bebb26bc">translation</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _t;}</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;</div><div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#aaf12f03b09b2a3a4c9185edcc8b141cb">   98</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_s_e3_quat.html#aaf12f03b09b2a3a4c9185edcc8b141cb">setTranslation</a>(<span class="keyword">const</span> Vector3d&amp; t_) {_t = t_;}</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a7345da50450b60ae725083fbdb85eb7d">  100</a></span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> Quaterniond&amp; <a class="code" href="classg2o_1_1_s_e3_quat.html#a7345da50450b60ae725083fbdb85eb7d">rotation</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _r;}</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a1f55879ec2e4801d5de4b12b301ff59c">  102</a></span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_s_e3_quat.html#a1f55879ec2e4801d5de4b12b301ff59c">setRotation</a>(<span class="keyword">const</span> Quaterniond&amp; r_) {_r=r_;}</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a1258baef15096f3176a3454258a132c9">  104</a></span>&#160;      <span class="keyword">inline</span> <a class="code" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a> operator* (<span class="keyword">const</span> <a class="code" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a>&amp; tr2)<span class="keyword"> const</span>{</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <a class="code" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a> result(*<span class="keyword">this</span>);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        result.<a class="code" href="classg2o_1_1_s_e3_quat.html#a7f0078e2750e8f821926f2d51202a809">_t</a> += _r*tr2.<a class="code" href="classg2o_1_1_s_e3_quat.html#a7f0078e2750e8f821926f2d51202a809">_t</a>;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        result.<a class="code" href="classg2o_1_1_s_e3_quat.html#a420255bcfca499dc2669b27fd373f665">_r</a>*=tr2.<a class="code" href="classg2o_1_1_s_e3_quat.html#a420255bcfca499dc2669b27fd373f665">_r</a>;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        result.<a class="code" href="classg2o_1_1_s_e3_quat.html#a0e2c54c6dfdaa71b677556a9d8e4e88a">normalizeRotation</a>();</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a0b0c9d2ff23d7e1501bc79a32e958239">  112</a></span>&#160;      <span class="keyword">inline</span> <a class="code" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a>&amp; operator*= (<span class="keyword">const</span> <a class="code" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a>&amp; tr2){</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        _t+=_r*tr2.<a class="code" href="classg2o_1_1_s_e3_quat.html#a7f0078e2750e8f821926f2d51202a809">_t</a>;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        _r*=tr2.<a class="code" href="classg2o_1_1_s_e3_quat.html#a420255bcfca499dc2669b27fd373f665">_r</a>;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        normalizeRotation();</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      }</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a7cc4e945656a75d927bd584c1bb4cb76">  119</a></span>&#160;      <span class="keyword">inline</span> Vector3d operator* (<span class="keyword">const</span> Vector3d&amp; v)<span class="keyword"> const </span>{</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keywordflow">return</span> _t+_r*v;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      }</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a894d361da0f27b25472b3a274deefed3">  123</a></span>&#160;      <span class="keyword">inline</span> <a class="code" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a> <a class="code" href="classg2o_1_1_s_e3_quat.html#a894d361da0f27b25472b3a274deefed3">inverse</a>()<span class="keyword"> const</span>{</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <a class="code" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a> ret;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        ret.<a class="code" href="classg2o_1_1_s_e3_quat.html#a420255bcfca499dc2669b27fd373f665">_r</a>=_r.conjugate();</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        ret.<a class="code" href="classg2o_1_1_s_e3_quat.html#a7f0078e2750e8f821926f2d51202a809">_t</a>=ret.<a class="code" href="classg2o_1_1_s_e3_quat.html#a420255bcfca499dc2669b27fd373f665">_r</a>*(_t*-1.);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      }</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#addcaff389620fa395bf3093814046633">  130</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_s_e3_quat.html#addcaff389620fa395bf3093814046633">operator []</a>(<span class="keywordtype">int</span> i)<span class="keyword"> const </span>{</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        assert(i&lt;7);</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="keywordflow">if</span> (i&lt;3)</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          <span class="keywordflow">return</span> _t[i];</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordflow">return</span> _r.coeffs()[i-3];</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      }</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a59ecabba8306c7ab111d1cc483561f61">  138</a></span>&#160;      <span class="keyword">inline</span> Vector7d <a class="code" href="classg2o_1_1_s_e3_quat.html#a59ecabba8306c7ab111d1cc483561f61">toVector</a>()<span class="keyword"> const</span>{</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        Vector7d v;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        v[0]=_t(0);</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        v[1]=_t(1);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        v[2]=_t(2);</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        v[3]=_r.x();</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        v[4]=_r.y();</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        v[5]=_r.z();</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        v[6]=_r.w();</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordflow">return</span> v;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      }</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a59aa7dffe9320761ee65bcdfa2bc61fd">  150</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_s_e3_quat.html#a59aa7dffe9320761ee65bcdfa2bc61fd">fromVector</a>(<span class="keyword">const</span> Vector7d&amp; v){</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        _r=Quaterniond(v[6], v[3], v[4], v[5]);</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        _t=Vector3d(v[0], v[1], v[2]);</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      }</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a2b5a5177c2d5e6e637019253e9630a08">  155</a></span>&#160;      <span class="keyword">inline</span> Vector6d <a class="code" href="classg2o_1_1_s_e3_quat.html#a2b5a5177c2d5e6e637019253e9630a08">toMinimalVector</a>()<span class="keyword"> const</span>{</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        Vector6d v;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        v[0]=_t(0);</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        v[1]=_t(1);</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        v[2]=_t(2);</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        v[3]=_r.x();</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        v[4]=_r.y();</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        v[5]=_r.z();</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keywordflow">return</span> v;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      }</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a65714851482e99558401d4ea66edb183">  166</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_s_e3_quat.html#a65714851482e99558401d4ea66edb183">fromMinimalVector</a>(<span class="keyword">const</span> Vector6d&amp; v){</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keywordtype">double</span> w = 1.-v[3]*v[3]-v[4]*v[4]-v[5]*v[5];</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keywordflow">if</span> (w&gt;0){</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          _r=Quaterniond(sqrt(w), v[3], v[4], v[5]);</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          _r=Quaterniond(0, -v[3], -v[4], -v[5]);</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        }</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        _t=Vector3d(v[0], v[1], v[2]);</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      }</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#ab19dfa20f3d0ed68f07a81ea90bcfc76">  178</a></span>&#160;      Vector6d <a class="code" href="classg2o_1_1_s_e3_quat.html#ab19dfa20f3d0ed68f07a81ea90bcfc76">log</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        Vector6d res;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        Matrix3d _R = _r.toRotationMatrix();</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordtype">double</span> d =  0.5*(_R(0,0)+_R(1,1)+_R(2,2)-1);</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        Vector3d omega;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        Vector3d upsilon;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        Vector3d dR = <a class="code" href="namespaceg2o.html#a2e39915fb420fd7dc2d3802435e4a6a9">deltaR</a>(_R);</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        Matrix3d V_inv;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">if</span> (d&gt;0.99999)</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        {</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          omega=0.5*dR;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          Matrix3d Omega = <a class="code" href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">skew</a>(omega);</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          V_inv = Matrix3d::Identity()- 0.5*Omega + (1./12.)*(Omega*Omega);</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        }</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        {</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          <span class="keywordtype">double</span> theta = acos(d);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          omega = theta/(2*sqrt(1-d*d))*dR;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          Matrix3d Omega = <a class="code" href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">skew</a>(omega);</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;          V_inv = ( Matrix3d::Identity() - 0.5*Omega</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;              + ( 1-theta/(2*tan(theta/2)))/(theta*theta)*(Omega*Omega) );</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        }</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        upsilon = V_inv*_t;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;3;i++){</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          res[i]=omega[i];</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        }</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;3;i++){</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          res[i+3]=upsilon[i];</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        }</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      }</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a6b2c679d255e1adc8e734215703cf01c">  217</a></span>&#160;      Vector3d <a class="code" href="classg2o_1_1_s_e3_quat.html#a6b2c679d255e1adc8e734215703cf01c">map</a>(<span class="keyword">const</span> Vector3d &amp; xyz)<span class="keyword"> const</span></div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="keyword">      </span>{</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keywordflow">return</span> _r*xyz + _t;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      }</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a374a05b202889d09d5a3a25e0fb6c103">  223</a></span>&#160;      <span class="keyword">static</span> <a class="code" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a> <a class="code" href="classg2o_1_1_s_e3_quat.html#a374a05b202889d09d5a3a25e0fb6c103">exp</a>(<span class="keyword">const</span> Vector6d &amp; update)</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      {</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        Vector3d omega;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;3; i++)</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          omega[i]=update[i];</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        Vector3d upsilon;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;3; i++)</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;          upsilon[i]=update[i+3];</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="keywordtype">double</span> theta = omega.norm();</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        Matrix3d Omega = <a class="code" href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">skew</a>(omega);</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        Matrix3d R;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        Matrix3d V;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="keywordflow">if</span> (theta&lt;0.00001)</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        {</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          <span class="comment">//TODO: CHECK WHETHER THIS IS CORRECT!!!</span></div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;          R = (Matrix3d::Identity() + Omega + Omega*Omega);</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;          V = R;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        }</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keywordflow">else</span></div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        {</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          Matrix3d Omega2 = Omega*Omega;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;          R = (Matrix3d::Identity()</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;              + sin(theta)/theta *Omega</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;              + (1-cos(theta))/(theta*theta)*Omega2);</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;          V = (Matrix3d::Identity()</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;              + (1-cos(theta))/(theta*theta)*Omega</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;              + (theta-sin(theta))/(pow(theta,3))*Omega2);</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;        }</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a>(Quaterniond(R),V*upsilon);</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      }</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;</div><div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a5540394ac7f1a61c5e04ceed9c96617a">  259</a></span>&#160;      Matrix&lt;double, 6, 6&gt; <a class="code" href="classg2o_1_1_s_e3_quat.html#a5540394ac7f1a61c5e04ceed9c96617a">adj</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="keyword">      </span>{</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        Matrix3d R = _r.toRotationMatrix();</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        Matrix&lt;double, 6, 6&gt; res;</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        res.block(0,0,3,3) = R;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        res.block(3,3,3,3) = R;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        res.block(3,0,3,3) = <a class="code" href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">skew</a>(_t)*R;</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        res.block(0,3,3,3) = Matrix3d::Zero(3,3);</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      }</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;</div><div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a88de9de9db852e2a0414bcd2afdc0fda">  270</a></span>&#160;      Matrix&lt;double,4,4&gt; <a class="code" href="classg2o_1_1_s_e3_quat.html#a88de9de9db852e2a0414bcd2afdc0fda">to_homogeneous_matrix</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="keyword">      </span>{</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        Matrix&lt;double,4,4&gt; homogeneous_matrix;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        homogeneous_matrix.setIdentity();</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        homogeneous_matrix.block(0,0,3,3) = _r.toRotationMatrix();</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;        homogeneous_matrix.col(3).head(3) = translation();</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;        <span class="keywordflow">return</span> homogeneous_matrix;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      }</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;</div><div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#a0e2c54c6dfdaa71b677556a9d8e4e88a">  280</a></span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_s_e3_quat.html#a0e2c54c6dfdaa71b677556a9d8e4e88a">normalizeRotation</a>(){</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        <span class="keywordflow">if</span> (_r.w()&lt;0){</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;          _r.coeffs() *= -1;</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        }</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        _r.normalize();</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      }</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;</div><div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="classg2o_1_1_s_e3_quat.html#ae7aa654ff10b9f4e2fa0b5583526f026">  290</a></span>&#160;      <span class="keyword">operator</span> Eigen::Isometry3d()<span class="keyword"> const</span></div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="keyword">      </span>{</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        Eigen::Isometry3d result = (Eigen::Isometry3d) rotation();</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        result.translation() = translation();</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      }</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  };</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;</div><div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="namespaceg2o.html#a613d60098b4ebe03626c13f9432b7834">  298</a></span>&#160;  <span class="keyword">inline</span> std::ostream&amp; <a class="code" href="namespaceg2o.html#a018b0f839c5efbe3cfadca1e136f7a97">operator &lt;&lt;</a>(std::ostream&amp; out_str, <span class="keyword">const</span> <a class="code" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a>&amp; se3)</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  {</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    out_str &lt;&lt; se3.<a class="code" href="classg2o_1_1_s_e3_quat.html#a88de9de9db852e2a0414bcd2afdc0fda">to_homogeneous_matrix</a>()  &lt;&lt; std::endl;</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keywordflow">return</span> out_str;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  }</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_s_e3_quat_html_a2b5a5177c2d5e6e637019253e9630a08"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a2b5a5177c2d5e6e637019253e9630a08">g2o::SE3Quat::toMinimalVector</a></div><div class="ttdeci">Vector6d toMinimalVector() const</div><div class="ttdef"><b>Definition:</b> se3quat.h:155</div></div>
<div class="ttc" id="namespaceg2o_html_a4740ec41130f2ecc628c81f71261c8de"><div class="ttname"><a href="namespaceg2o.html#a4740ec41130f2ecc628c81f71261c8de">g2o::Vector7d</a></div><div class="ttdeci">Matrix&lt; double, 7, 1 &gt; Vector7d</div><div class="ttdef"><b>Definition:</b> se3quat.h:39</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a5540394ac7f1a61c5e04ceed9c96617a"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a5540394ac7f1a61c5e04ceed9c96617a">g2o::SE3Quat::adj</a></div><div class="ttdeci">Matrix&lt; double, 6, 6 &gt; adj() const</div><div class="ttdef"><b>Definition:</b> se3quat.h:259</div></div>
<div class="ttc" id="namespaceg2o_html_a018b0f839c5efbe3cfadca1e136f7a97"><div class="ttname"><a href="namespaceg2o.html#a018b0f839c5efbe3cfadca1e136f7a97">g2o::operator&lt;&lt;</a></div><div class="ttdeci">std::ostream &amp; operator&lt;&lt;(std::ostream &amp;os, const G2OBatchStatistics &amp;st)</div><div class="ttdef"><b>Definition:</b> batch_stats.cpp:48</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a374a05b202889d09d5a3a25e0fb6c103"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a374a05b202889d09d5a3a25e0fb6c103">g2o::SE3Quat::exp</a></div><div class="ttdeci">static SE3Quat exp(const Vector6d &amp;update)</div><div class="ttdef"><b>Definition:</b> se3quat.h:223</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_aaf12f03b09b2a3a4c9185edcc8b141cb"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#aaf12f03b09b2a3a4c9185edcc8b141cb">g2o::SE3Quat::setTranslation</a></div><div class="ttdeci">void setTranslation(const Vector3d &amp;t_)</div><div class="ttdef"><b>Definition:</b> se3quat.h:98</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_ab22b3fde9b7e0a833b74b3453041c040"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#ab22b3fde9b7e0a833b74b3453041c040">g2o::SE3Quat::SE3Quat</a></div><div class="ttdeci">SE3Quat(const Quaterniond &amp;q, const Vector3d &amp;t)</div><div class="ttdef"><b>Definition:</b> se3quat.h:62</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a6b2c679d255e1adc8e734215703cf01c"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a6b2c679d255e1adc8e734215703cf01c">g2o::SE3Quat::map</a></div><div class="ttdeci">Vector3d map(const Vector3d &amp;xyz) const</div><div class="ttdef"><b>Definition:</b> se3quat.h:217</div></div>
<div class="ttc" id="namespaceg2o_html_a2e39915fb420fd7dc2d3802435e4a6a9"><div class="ttname"><a href="namespaceg2o.html#a2e39915fb420fd7dc2d3802435e4a6a9">g2o::deltaR</a></div><div class="ttdeci">Vector3d deltaR(const Matrix3d &amp;R)</div><div class="ttdef"><b>Definition:</b> se3_ops.h:41</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a7f0078e2750e8f821926f2d51202a809"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a7f0078e2750e8f821926f2d51202a809">g2o::SE3Quat::_t</a></div><div class="ttdeci">Vector3d _t</div><div class="ttdef"><b>Definition:</b> se3quat.h:49</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a88de9de9db852e2a0414bcd2afdc0fda"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a88de9de9db852e2a0414bcd2afdc0fda">g2o::SE3Quat::to_homogeneous_matrix</a></div><div class="ttdeci">Matrix&lt; double, 4, 4 &gt; to_homogeneous_matrix() const</div><div class="ttdef"><b>Definition:</b> se3quat.h:270</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_addcaff389620fa395bf3093814046633"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#addcaff389620fa395bf3093814046633">g2o::SE3Quat::operator []</a></div><div class="ttdeci">double operator [](int i) const</div><div class="ttdef"><b>Definition:</b> se3quat.h:130</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a894d361da0f27b25472b3a274deefed3"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a894d361da0f27b25472b3a274deefed3">g2o::SE3Quat::inverse</a></div><div class="ttdeci">SE3Quat inverse() const</div><div class="ttdef"><b>Definition:</b> se3quat.h:123</div></div>
<div class="ttc" id="namespaceg2o_html_a3bc8a4fbac86f158d548be81af2f929b"><div class="ttname"><a href="namespaceg2o.html#a3bc8a4fbac86f158d548be81af2f929b">g2o::Vector6d</a></div><div class="ttdeci">Matrix&lt; double, 6, 1 &gt; Vector6d</div><div class="ttdef"><b>Definition:</b> se3quat.h:38</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_ada36ff00a7a238cef3fe958ff9f7f9cd"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#ada36ff00a7a238cef3fe958ff9f7f9cd">g2o::SE3Quat::SE3Quat</a></div><div class="ttdeci">SE3Quat(const MatrixBase&lt; Derived &gt; &amp;v)</div><div class="ttdoc">templaized constructor which allows v to be an arbitrary Eigen Vector type, e.g., Vector6d or Map&lt;Vec...</div><div class="ttdef"><b>Definition:</b> se3quat.h:70</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a420255bcfca499dc2669b27fd373f665"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a420255bcfca499dc2669b27fd373f665">g2o::SE3Quat::_r</a></div><div class="ttdeci">Quaterniond _r</div><div class="ttdef"><b>Definition:</b> se3quat.h:48</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="se3__ops_8h_html"><div class="ttname"><a href="se3__ops_8h.html">se3_ops.h</a></div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a685de01e417e01f84d5b8389e5f5f333"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a685de01e417e01f84d5b8389e5f5f333">g2o::SE3Quat::SE3Quat</a></div><div class="ttdeci">SE3Quat()</div><div class="ttdef"><b>Definition:</b> se3quat.h:53</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a0e2c54c6dfdaa71b677556a9d8e4e88a"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a0e2c54c6dfdaa71b677556a9d8e4e88a">g2o::SE3Quat::normalizeRotation</a></div><div class="ttdeci">void normalizeRotation()</div><div class="ttdef"><b>Definition:</b> se3quat.h:280</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a65714851482e99558401d4ea66edb183"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a65714851482e99558401d4ea66edb183">g2o::SE3Quat::fromMinimalVector</a></div><div class="ttdeci">void fromMinimalVector(const Vector6d &amp;v)</div><div class="ttdef"><b>Definition:</b> se3quat.h:166</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html">g2o::SE3Quat</a></div><div class="ttdef"><b>Definition:</b> se3quat.h:41</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a59aa7dffe9320761ee65bcdfa2bc61fd"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a59aa7dffe9320761ee65bcdfa2bc61fd">g2o::SE3Quat::fromVector</a></div><div class="ttdeci">void fromVector(const Vector7d &amp;v)</div><div class="ttdef"><b>Definition:</b> se3quat.h:150</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a5bcd64993957b1a87a113d9a282d4fcb"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a5bcd64993957b1a87a113d9a282d4fcb">g2o::SE3Quat::EIGEN_MAKE_ALIGNED_OPERATOR_NEW</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="ttdef"><b>Definition:</b> se3quat.h:43</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_ab19dfa20f3d0ed68f07a81ea90bcfc76"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#ab19dfa20f3d0ed68f07a81ea90bcfc76">g2o::SE3Quat::log</a></div><div class="ttdeci">Vector6d log() const</div><div class="ttdef"><b>Definition:</b> se3quat.h:178</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a7345da50450b60ae725083fbdb85eb7d"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a7345da50450b60ae725083fbdb85eb7d">g2o::SE3Quat::rotation</a></div><div class="ttdeci">const Quaterniond &amp; rotation() const</div><div class="ttdef"><b>Definition:</b> se3quat.h:100</div></div>
<div class="ttc" id="namespaceg2o_html_adb3143a37b9bc002f4f7b6423061ef81"><div class="ttname"><a href="namespaceg2o.html#adb3143a37b9bc002f4f7b6423061ef81">g2o::skew</a></div><div class="ttdeci">Matrix3d skew(const Vector3d &amp;v)</div><div class="ttdef"><b>Definition:</b> se3_ops.h:28</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a3f36961ad875394c3d305883bebb26bc"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a3f36961ad875394c3d305883bebb26bc">g2o::SE3Quat::translation</a></div><div class="ttdeci">const Vector3d &amp; translation() const</div><div class="ttdef"><b>Definition:</b> se3quat.h:96</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a1f55879ec2e4801d5de4b12b301ff59c"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a1f55879ec2e4801d5de4b12b301ff59c">g2o::SE3Quat::setRotation</a></div><div class="ttdeci">void setRotation(const Quaterniond &amp;r_)</div><div class="ttdef"><b>Definition:</b> se3quat.h:102</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a59ecabba8306c7ab111d1cc483561f61"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a59ecabba8306c7ab111d1cc483561f61">g2o::SE3Quat::toVector</a></div><div class="ttdeci">Vector7d toVector() const</div><div class="ttdef"><b>Definition:</b> se3quat.h:138</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_abb3e9184aa02bf6ced3f6d4cd0825f33"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#abb3e9184aa02bf6ced3f6d4cd0825f33">g2o::SE3Quat::SE3Quat</a></div><div class="ttdeci">SE3Quat(const Matrix3d &amp;R, const Vector3d &amp;t)</div><div class="ttdef"><b>Definition:</b> se3quat.h:58</div></div>
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